LineSegmentDetector¶

What is this?¶
Detect lines in a point cloud.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)Input point cloud.
~input_indices
(jsk_recognition_msgs/ClusterPointIndices
)Input indices of the cluster in a point cloud.
Publishing Topics¶
~debug/line_marker
(visualization_msgs/Marker
)Marker topic to visualize detected line.
~output/inliers
(jsk_recognition_msgs/ClusterPointIndices
)~output/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Result of detection.
Parameters¶
~approximate_sync
(Bool
, default:false
)Whether to allow approximate synchronization of input topics.
~method_type
(Int
, default:0
)The type of sample consensus method to use.
0: SAC_RANSAC
1: SAC_LMEDS
2: SAC_MSAC
3: SAC_RRANSAC
4: SAC_RMSAC
5: SAC_MLESAC
6: SAC_PROSAC
~outlier_threshold
(Double
, default:0.005
)Outlier threshold in meters to detect plane using RANSAC.
~max_iterations
(Int
, default:1000
)Maximum iteration number to detect larger plane using RANSAC.
~min_indices
(Int
, default:1000
)Minimum number of points which construct a line.
~min_length
(Double
, default:0.1
)Minimum length of each line in meters.
~line_width
(Double
, default:0.01
)Width of line marker published to
~debug/line_marker
.
Sample¶
roslaunch jsk_pcl_ros sample_line_segment_detector.launch